 ;; TODO: smarter choose-leaf?
 ;; TODO: conspiracy number, weighted, etc.
 ;; TODO: forcing summary of TS in summary_graphs makes a lot of extra comps (lefts), doesn't help.
+;; TODO: propagate across subsumption links? (must be careful here, not to cross state/plan syntax/semantics line)
 
 ;;;;; SP caching
 ;; TODO: tail (i.e., pair) caching? -- Only help for >2 len refs...

    (summary/solve
     #(sg/summary pess-root)
     (sg/best-leaf-operator choice-fn local? evaluate-and-update!)
     #(let [n (fs/fs-name (second (sp-name %)))] (when-not (= (first n) :noop) n)))))

(defn implicit-dash-wa* [henv w & opts]
  (binding [summary/*sws-weight* w

;; (dotimes [_ 1] (reset! sg/*summary-count* 0) (reset! summaries-old/*summary-count* 0) (debug 0 (let [opts [:gather true :d true :s :eager :dir :right] h (make-discrete-manipulation-hierarchy  (make-random-hard-discrete-manipulation-env 3 3))]   (time (println (run-counted #(identity (apply da/implicit-dash-a* h opts))) @sg/*summary-count*))   (time (println (run-counted #(identity (apply dao/implicit-dash-a*-opt h opts))) @summaries-old/*summary-count*))   (time (println (run-counted #(identity (dam/implicit-random-dash-a*-opt h))) ))   (time (println (run-counted #(identity (his/explicit-simple-dash-a* h))) )) )))






;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Graveyard ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

